<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: pcl::PosesFromMatches类 参考</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('classpcl_1_1_poses_from_matches.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#nested-classes">类</a> &#124;
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1_poses_from_matches-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::PosesFromMatches类 参考<div class="ingroups"><a class="el" href="group__common.html">Common components</a></div></div>  </div>
</div><!--header-->
<div class="contents">

<p>calculate 3D transformation based on point correspondencdes  
 <a href="classpcl_1_1_poses_from_matches.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="poses__from__matches_8h_source.html">poses_from_matches.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_poses_from_matches_1_1_parameters.html">Parameters</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structpcl_1_1_poses_from_matches_1_1_parameters.html" title="Parameters used in this class">Parameters</a> used in this class  <a href="structpcl_1_1_poses_from_matches_1_1_parameters.html#details">更多...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html">PoseEstimate</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">A result of the pose estimation process  <a href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html#details">更多...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:aea0a8eda0034607aac466f1014abcd44"><td class="memItemLeft" align="right" valign="top"><a id="aea0a8eda0034607aac466f1014abcd44"></a>
typedef std::vector&lt; <a class="el" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html">PoseEstimate</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html">PoseEstimate</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PoseEstimatesVector</b></td></tr>
<tr class="separator:aea0a8eda0034607aac466f1014abcd44"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a2ca9f2dec25a2d46577386b59fc6c574"><td class="memItemLeft" align="right" valign="top"><a id="a2ca9f2dec25a2d46577386b59fc6c574"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_poses_from_matches.html#a2ca9f2dec25a2d46577386b59fc6c574">PosesFromMatches</a> ()</td></tr>
<tr class="memdesc:a2ca9f2dec25a2d46577386b59fc6c574"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor <br /></td></tr>
<tr class="separator:a2ca9f2dec25a2d46577386b59fc6c574"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a036eef11e4590abb7fc68138fbdef710"><td class="memItemLeft" align="right" valign="top"><a id="a036eef11e4590abb7fc68138fbdef710"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_poses_from_matches.html#a036eef11e4590abb7fc68138fbdef710">~PosesFromMatches</a> ()</td></tr>
<tr class="memdesc:a036eef11e4590abb7fc68138fbdef710"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor <br /></td></tr>
<tr class="separator:a036eef11e4590abb7fc68138fbdef710"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a508fd4ff9f9f6951f3a869365403670e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_poses_from_matches.html#a508fd4ff9f9f6951f3a869365403670e">estimatePosesUsing1Correspondence</a> (const PointCorrespondences6DVector &amp;correspondences, int max_no_of_results, PoseEstimatesVector &amp;pose_estimates) const</td></tr>
<tr class="separator:a508fd4ff9f9f6951f3a869365403670e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a51be68448c5172b511e9146e3b589559"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_poses_from_matches.html#a51be68448c5172b511e9146e3b589559">estimatePosesUsing2Correspondences</a> (const PointCorrespondences6DVector &amp;correspondences, int max_no_of_tested_combinations, int max_no_of_results, PoseEstimatesVector &amp;pose_estimates) const</td></tr>
<tr class="separator:a51be68448c5172b511e9146e3b589559"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a04ca4b95ca0508c228312931eb13dc2d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_poses_from_matches.html#a04ca4b95ca0508c228312931eb13dc2d">estimatePosesUsing3Correspondences</a> (const PointCorrespondences6DVector &amp;correspondences, int max_no_of_tested_combinations, int max_no_of_results, PoseEstimatesVector &amp;pose_estimates) const</td></tr>
<tr class="separator:a04ca4b95ca0508c228312931eb13dc2d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab42fde9301ae044845643a4792aac61d"><td class="memItemLeft" align="right" valign="top"><a id="ab42fde9301ae044845643a4792aac61d"></a>
<a class="el" href="structpcl_1_1_poses_from_matches_1_1_parameters.html">Parameters</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_poses_from_matches.html#ab42fde9301ae044845643a4792aac61d">getParameters</a> ()</td></tr>
<tr class="memdesc:ab42fde9301ae044845643a4792aac61d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a reference to the parameters struct <br /></td></tr>
<tr class="separator:ab42fde9301ae044845643a4792aac61d"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a24088813b2e5d48159ff9ba6b8b87fff"><td class="memItemLeft" align="right" valign="top"><a id="a24088813b2e5d48159ff9ba6b8b87fff"></a>
<a class="el" href="structpcl_1_1_poses_from_matches_1_1_parameters.html">Parameters</a>&#160;</td><td class="memItemRight" valign="bottom"><b>parameters_</b></td></tr>
<tr class="separator:a24088813b2e5d48159ff9ba6b8b87fff"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>calculate 3D transformation based on point correspondencdes </p>
<dl class="section author"><dt>作者</dt><dd>Bastian Steder </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a508fd4ff9f9f6951f3a869365403670e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a508fd4ff9f9f6951f3a869365403670e">&#9670;&nbsp;</a></span>estimatePosesUsing1Correspondence()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::PosesFromMatches::estimatePosesUsing1Correspondence </td>
          <td>(</td>
          <td class="paramtype">const PointCorrespondences6DVector &amp;&#160;</td>
          <td class="paramname"><em>correspondences</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>max_no_of_results</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">PoseEstimatesVector &amp;&#160;</td>
          <td class="paramname"><em>pose_estimates</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Use single 6DOF correspondences to estimate transformations between the coordinate systems. Use max_no_of_results=-1 to use all. It is assumed, that the correspondences are sorted from good to bad. </p>

</div>
</div>
<a id="a51be68448c5172b511e9146e3b589559"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a51be68448c5172b511e9146e3b589559">&#9670;&nbsp;</a></span>estimatePosesUsing2Correspondences()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::PosesFromMatches::estimatePosesUsing2Correspondences </td>
          <td>(</td>
          <td class="paramtype">const PointCorrespondences6DVector &amp;&#160;</td>
          <td class="paramname"><em>correspondences</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>max_no_of_tested_combinations</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>max_no_of_results</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">PoseEstimatesVector &amp;&#160;</td>
          <td class="paramname"><em>pose_estimates</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Use pairs of 6DOF correspondences to estimate transformations between the coordinate systems. It is assumed, that the correspondences are sorted from good to bad. </p>

</div>
</div>
<a id="a04ca4b95ca0508c228312931eb13dc2d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a04ca4b95ca0508c228312931eb13dc2d">&#9670;&nbsp;</a></span>estimatePosesUsing3Correspondences()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::PosesFromMatches::estimatePosesUsing3Correspondences </td>
          <td>(</td>
          <td class="paramtype">const PointCorrespondences6DVector &amp;&#160;</td>
          <td class="paramname"><em>correspondences</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>max_no_of_tested_combinations</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>max_no_of_results</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">PoseEstimatesVector &amp;&#160;</td>
          <td class="paramname"><em>pose_estimates</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Use triples of 6DOF correspondences to estimate transformations between the coordinate systems. It is assumed, that the correspondences are sorted from good to bad. </p>

</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>common/include/pcl/common/<a class="el" href="poses__from__matches_8h_source.html">poses_from_matches.h</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><b>pcl</b></li><li class="navelem"><a class="el" href="classpcl_1_1_poses_from_matches.html">PosesFromMatches</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
